摘要
针对传统高刚性机器人在人机交互过程中因碰撞产生的不安全问题,设计了一种新型的可变刚度柔顺关节。提出了一种基于凸轮四连杆机构的新型变刚度方法,分析了变刚度柔顺关节工作原理,详细阐述了变刚度柔顺关节的机械结构。设计了凸轮轮廓曲线,使变刚度柔顺关节达到最优刚度特性。根据机械结构建立变刚度机构的数学模型和变刚度柔顺关节的动力学模型,通过Simulink对变刚度柔顺关节进行仿真实验。分析变刚度柔顺关节的仿真数据,得到不同刚度条件下关节输出角度曲线波动不同,输出角度抖动不同。发生人机碰撞情况时,可降低机器人的关节刚度,提高人机交互的安全性。
Aiming at the insecurity of traditional high-rigidity robots due to collisions during humanmachine interaction,a new type of flexible joint with variable stiffness is designed. A new variable stiffness method based on cam four-bar linkage is proposed,the working principle of the variable stiffness compliant joint is analyzed,and the mechanical structure of the variable stiffness compliant joint is explained in detail. The cam profile curve is designed to achieve the optimal stiffness characteristics of the variable stiffness compliant joint. According to the mechanical structure,the mathematical model of the variable stiffness mechanism and the dynamic model of the variable stiffness compliant joint are established,and the simulation experiment of the variable stiffness compliant joint is carried out through Simulink. The simulation data of the variable stiffness compliant joint is analyzed,and the output angle curve fluctuation and the output angle jitter of the joint under different stiffness conditions are different. When a human-machine collision occurs,the joint stiffness of the robot can be reduced,and the safety of human-machine interaction can be improved.
作者
王新庆
刘艳立
李世庆
文岩
王继荣
WANG Xinqing;LIU Yanli;LI Shiqing;WEN Yan;WANG Jirong(School of Mechanical and Electrical Engineering.China University of Petroleum(UPC),Qingdao 256000,Shandong,China)
出处
《中国工程机械学报》
北大核心
2021年第6期506-511,共6页
Chinese Journal of Construction Machinery
基金
山东省重大科技创新项目(2017CXGC0902)
青岛市应用基础研究项目(青年专项)(18-2-2-13-jch)
中央高校基础研究经费资助项目(18CX02088A)。
